hrpsys Documentation

Overview

"hrpsys": Basic RT components and utilities to control robots using OpenRTM. Some notable features:

• Real-time capable utilizing OS feature
• Rich interface for kinematic operation
• Manipulator operation by the pose of end-effector (EEF linear interpolation)
• Manipulation by passing the set of joint angles (joint angle interpolation)
• 2 interpolation options; linear / minimum jerk
• Preemptive kinematic operation (canceleable and modifyable)
• Preemption can be disabled
• Plugins
• EEF compliance control plugin (using on force-torque sensor)
• EEF virtual force computation plugin (using joint torque values)
• Joint protection plugin
• Self interference detection plugin
• Servo module hand plugin
• Proven operational history
• Development has been active over years at institutes such as the original developer AIST (National Institute of Advanced Industrial Science and Technology in Japan), JSK Lab at U-Tokyo.
• Dozens of thousands of operational time
• Number of robots are running atop
• Include 4 DRC contender robots
• See the incomplete list of the hrpsys-based robots here
• Active development status; 73 commits during month of June 2015 made by 5 authors

System requirements

ubuntu 12.04LTS and 14.04LTS are supported.
OpenHRP version 3.1.5 or later is required.
To use python scripts to create RT components, connect ports and get/set properties, OpenRTM-aist-python is also required.

Contents of the package

• hrpsys python helper library
  This library helps working on hrpsys manager and plugins.
• rtm python helper library
  This library helps to create/delete and activate/deactivate RT components and connect/disconnect ports.
• Basic RT components
  • AccelerationChecker
  • AutoBalancer
  • ApproximateVoxelGridFilter
  • AverageFilter
  • Beeper
  • CameraImageViewer
  • CameraImageSaver
  • CaptureController
  • CollisionDetector
  • ColorExtractor
  • DataLogger
  • ExtractCameraImage
  • ForwardKinematics
  • GraspController
  • HGcontroller
  • ImageData2CameraImage
  • ImpedanceController
  • Joystick
  • Joystick2Velocity2D
  • Joystick2Velocity3D
  • Joystick2PanTiltAngles
  • JpegDecoder
  • JpegEncoder
  • KalmanFilter
  • MLSFilter
  • NullComponent
  • EmergencyStopper
  • ObjectContactTurnaroundDetector
  • OccupancyGridMap3D
  • OGMap3DViewer
  • OpenNIGrabber
  • PCDLoader
  • PDcontroller
  • PlaneRemover
  • PointCloudViewer
  • RGB2Gray
  • Range2PointCloud
  • RangeDataViewer
  • RangeNoiseMixer
  • ReferenceForceUpdater
  • RemoveForceSensorLinkOffset
  • ResizeImage
  • RobotHardware
  • SORFilter
  • SequencePlayer
  • ServoController
  • Simulator
  • SoftErrorLimiter
  • Stabilizer
  • StateHolder
  • ThermoEstimator
  • ThermoLimiter
  • TorqueController
  • TorqueFilter
  • VideoCapture
  • Viewer
  • VirtualCamera
  • VirtualForceSensor
  • WavPlayer
• Services provided by basic RT components
  • OpenHRP::AutoBalancerService
  • OpenHRP::CollisionDetectorService
  • OpenHRP::DataLoggerService
  • OpenHRP::ExecutionProfileService
  • OpenHRP::ForwardKinematicsService
  • OpenHRP::GraspControllerService
  • Img::CameraCaptureService
  • OpenHRP::ImpedanceControllerService
  • OpenHRP::KalmanFilterService
  • OpenHRP::OGMap3DService
  • OpenHRP::RemoveForceSensorLinkOffsetService
  • OpenHRP::RobotHardwareService
  • OpenHRP::SequencePlayerService
  • OpenHRP::ServoControllerService
  • OpenHRP::SoftErrorLimiterService
  • OpenHRP::StabilizerService
  • OpenHRP::StateHolderService
  • OpenHRP::TimeKeeperService
  • OpenHRP::TorqueControllerService
  • OpenHRP::TorqueFilterService
  • OpenHRP::VirtualForceSensorService
  • OpenHRP::WavPlayerService
• Utilities
  • ProjectGenerator
  • hrpsys-simulator
  • hrpsys-simulator-jython
  • hrpsys-simulator-python
  • hrpsys-viewer
  • hrpsys-monitor
  • hrpsysjy
  • hrpsyspy
  • Python bindings
• IO library
  IO library provides a standard access method to the robot hardware. A library in this package just provides its dummy implementation. To control your robot with this package, you need to implement the IO library for your robot.
• Execution Context
  This execution context executes RT components in real-time cooperating with the IO library. ART-Linux or Preemptive Kernel of Linux can be used as a real-time OS.
• Eclipse plugin
  This plugin extends GrxUI(Graphical User Interface of OpenHRP3) and enables to monitor the robot status on GrxUI communicating with RT components RobotHardware and StateHolder.

How to monitor my robot?

In order to monitor your robot using GrxUI, you need to implement IO library for your robot. Please develop a library which has interface defined in iob.h and replace pre-installed libhrpIo.so with it.